Passive compliance polishing robot aiming at planar work piece

Abstract

The invention belongs to the technical field of robots and especially relates to a passive compliance polishing robot aiming at a planar work piece. The robot comprises a right-angle coordinate robotand a passive compliance device, wherein the right-angle coordinate robot comprises an installation frame, a pair of X-axis linear driving mechanism, a Y-axis linear driving mechanism and a Z-axis linear driving mechanism; the installation frame comprises a horizontal rectangular frame; and the passive compliance device is fixedly installed on the bottom end of the Z-axis linear driving mechanism,so the passive compliance device can move with three freedom degrees in X, Y and Z axes and can make trace motion in three spatial coordinates. Based on design ideas of modularization and light weight, the weight of whole equipment is lower than 30Kg. The passive compliance device adopts a pneumatic driving mode, so responding is quick. Polishing contact force is adjustable between 0N and 200N, and accuracy is lower than 1N. Integral design is used by the passive compliance polishing equipment, wherein maximum compliance displacement is 30mm, and a displacement error is smaller than 2 DEG.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a passive and smooth grinding robot facing planar workpieces. Background technique [0002] Compared with traditional manual grinding, the grinding of motorized equipment such as robots has the advantages of precise target positioning, high grinding quality, and high stability, which lays a technical foundation for the automation of the grinding industry, can improve grinding efficiency, improve workers' working conditions, and reduce worker operations. technical requirements, etc. At present, the main automatic grinding equipment on the market is a surface grinder. The structure of this equipment is composed of a granite base, a grinding wheel frame, and a grinding wheel for grinding. The advantage of this surface grinder is that the grinding is very smooth, but the degree of automation is not high, requiring the cooperation of the staff, and the grinding accuracy is...

AI Technical Summary

Problems solved by technology

However, this kind of passive compliance device has a complicated structure, and although it has good performance, the cost is very high.

At present, some research institutes in the grinding industry have begun to effectively combine six-axis industrial robots and passive compliant grinding devices. However, due to the extremely high cost and the fact that it is not completely consistent with the practical problems that need to be solved in the actual grinding indu...

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